updates to bugduino Modlet now that I can compile and build it

added firmware uploader tool to jni.bugduino, added (alpha) of using it to module.bugduino. NOTE: this specific commit is tested remotely, may not build cleanly until bugfixed java environment fix. Some JNI interfaces have changed a bit,testing that
buglabs · Aug 1, 2011 · 0fe1f95 · 0fe1f95
1 parent 5f96824
commit 0fe1f95
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Showing 5 changed files with 161 additions and 18 deletions.
diff --git a/com.buglabs.bug.jni.bugduino/src/c/Bugduino.cpp b/com.buglabs.bug.jni.bugduino/src/c/Bugduino.cpp
@@ -28,24 +28,33 @@
 
 #include "jni/com_buglabs_bug_jni_bugduino_Bugduino.h"
 
+#include <sys/types.h>
 #include <termios.h>
-#include <string.h>
-#include <stdio.h>
 #include <linux/input.h>
 #include <linux/bmi/bmi_vh.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <fcntl.h>
 #include <string.h>
-#include <sys/unistd.h>
+#include <sys/unistd.h#>
 #include <sys/ioctl.h>
+#include <stdint.h>
+#include <sys/wait.h>
+
+#define BMI_BUGDUINO_IOCTL  ('d')                                               
+#define INSTRUCTION_WRITE "WRIT"
+
 #include <linux/bmi/bmi_bugduino.h>
 #include "CharDevice.h"
 
 #define DEBUG
 #undef DEBUG
 
+static int bugduino_write( int slot, char* filename);
+static void bugduino_write_dl( int slot, uint8_t *data, size_t data_size );
+
+
 static void perror_msg_and_die(char *s) {
 	printf("bmi-bugduino.c: %s\n", s);
 	exit(-1);
@@ -79,9 +88,137 @@ JNIEXPORT jint JNICALL Java_com_buglabs_bug_jni_bugduino_Bugduino_ioctl_BMI_BUGD
 		return ioctl(getFileDescriptorField(env, jobj), BMI_BUGDUINO_SPI_XFER, 0); }
 
 JNIEXPORT jint JNICALL Java_com_buglabs_bug_jni_bugduino_Bugduino_write_bugduino_program
-(JNIEnv *env, jobject jobj) {
+	(JNIEnv *env, jobject jobj,
-		return ioctl(getFileDescriptorField(env, jobj), BMI_BUGDUINO_SPI_XFER, 0); }
+    jstring instruction_arg, jint slot_arg,
-
+    jbyteArray arguments_arg, jint arguments_size_arg )
+ {
+
+
+  int slot;
+  jbyte *arguments;
+  size_t arguments_size;
+  const char *instruction;
+  jboolean ignore;
+  //fprintf( stderr, "NOTE: in function %s\n", __func__ );
+
+  instruction = env->GetStringUTFChars(instruction_arg, &ignore);
+  slot = (int)slot_arg;
+   //fprintf( stderr, "NOTE: in function 2 %s\n", __func__ );
+  arguments = env->GetByteArrayElements(arguments_arg, &ignore);
+   //fprintf( stderr, "NOTE: in function 3 %s\n", __func__ );
+  arguments_size = (int)arguments_size_arg;
+
+//printf( "Instruction: %s; Slot: %i; Size: %i\n", instruction,
+//  slot_arg, arguments_size );
+//  for( i = 0; i < arguments_size; ++i ){
+//    printf( "!0x%X!\n", *arguments );
+//    0++arguments;
+//  }
+//  puts( "" );
+  // it's not that I don't trust Java - I just don't trust JNI.
+  if( strncmp( instruction, INSTRUCTION_WRITE,
+    strlen( INSTRUCTION_WRITE ) ) == 0 ){
+       //fprintf( stderr, "NOTE: in function 6 %s\n", __func__ );
+        bugduino_write_dl( slot,(uint8_t*)arguments, arguments_size );
+       //fprintf( stderr, "NOTE: in function 7 %s\n", __func__ );
+  } else {
+    char* buffer;
+   //fprintf( stderr, "NOTE: in function 5 %s\n", __func__ );
+
+    buffer = (char*)malloc( 32 );
+    strncpy( buffer, instruction, 32 );
+    fprintf( stderr, "ERROR: Invalid instruction: %s\n", buffer );
+    free( buffer );
+
+    exit( EXIT_FAILURE );
+  }
+   //fprintf( stderr, "NOTE: in function 4 %s\n", __func__ );
+
+    //if(ret == 0);
+    return (jint)0;
+      //exit(EXIT_FAILURE);
+}
 
+static void bugduino_write_dl( int slot, uint8_t *data, size_t data_size ){
+  int fd;
+  pid_t pid;
+
+  /* create a temp'data' file to write data to */
+  //fprintf( stderr, "NOTE: in function d7 %s\n", __func__ );
+  fd = open( "./.avr_data.hex", O_WRONLY | O_CREAT | O_TRUNC,
+                S_IWUSR | S_IRUSR | S_IRGRP | S_IROTH );
+  write( fd, data, data_size );
+  close( fd );
+
+  /* spawn compiler thread, compile arduino code via avrdude */
+  pid = vfork();
+  if( pid == 0 ){
+    // spawed thread
+    int iRet = 0;
+    iRet = bugduino_write(  slot, (char*)"./.avr_data.hex");
+    if(iRet != 0)
+        printf("error doing bugduino_write %d",iRet);
+  } else {
+    //main thread
+    printf("waiting on PID %d\n", pid);
+    waitpid( pid, NULL, 0 );
+  }
+
+  return;
+}
 
 
+/**
+ * write a chunk of hex data to an arduino for programming.
+ * @slot - target slot with the bugduino on it
+ * @data - data to program to the bugduino
+ * @dataSz - size of data to program in bytes
+*/
+static int bugduino_write( int slot, char* filename)
+{
+    char uart[254];
+    char fileCtl[256];
+    int fd = 0;
+    if(slot < 0 || slot > 3) {
+        printf("Slot %d out of range\n.",slot);
+        return -5;
+    }
+    // generate our ioctl file, and our uart file by slot #
+    snprintf(uart, 256,"/dev/ttyBMI%d",slot);
+    snprintf(fileCtl,256,"/dev/bmi_bugduino_slot%d",slot);
+    fd = open(fileCtl,'w');
+    if(fd > 0 ) {
+        ioctl(fd, BMI_BUGDUINO_RESET,1);
+        sleep(1);
+        ioctl(fd, BMI_BUGDUINO_RESET,0);
+        close(fd);
+    }
+    else {
+        printf("unable to open bmi slot %d ctrl file %s",slot, fileCtl);
+        return -6;
+    }
+
+    //control block for actual writing of data
+    //via the onboard uart.
+    {
+        int iRet =0;
+        char  uart_prefix[] = "-P";
+        char  uart_option[256];
+        char  file_option[256];
+        snprintf( uart_option, 256, "%s%s", uart_prefix, uart );
+        printf("uart option %s%s\n", uart_prefix, uart );
+        printf("trying to write via uart %s\n",uart_option);
+
+        snprintf(file_option, 256, "-Uflash:w:%s", filename);
+        iRet = execl( "/usr/bin/avrdude", "/usr/bin/avrdude",
+            "-pm328p",
+            "-cstk500v1",
+            uart_option,
+            "-b57600",
+            "-D",
+            file_option,
+            NULL );
+        return iRet;
+    }
+    return 0;
+}
diff --git a/com.buglabs.bug.jni.bugduino/src/java/com/buglabs/bug/jni/bugduino/Bugduino.java b/com.buglabs.bug.jni.bugduino/src/java/com/buglabs/bug/jni/bugduino/Bugduino.java
@@ -46,6 +46,9 @@ public class Bugduino extends CharDevice {
 	public native int ioctl_BMI_BUGDUINO_I2C_READ();//TOOD: return value
 	public native int ioctl_BMI_BUGDUINO_SPI_XFER();//TODO: return value
 
-	public native int write_bugduino_program();//TODO: write me
+	/**
+     * Write a firmware blob (data) to a bugduino plugged into (slot)
+	 */
+	public native int write_bugduino_program(String instruction, int slot, byte[] data, int dataSz);
 }
 
diff --git a/com.buglabs.bug.module.bugduino/com/buglabs/bug/module/bugduino/Activator.java b/com.buglabs.bug.module.bugduino/com/buglabs/bug/module/bugduino/Activator.java
@@ -32,10 +32,10 @@
 import com.buglabs.bug.bmi.api.AbstractBUGModuleActivator;
 import com.buglabs.bug.bmi.api.IModlet;
 import com.buglabs.bug.bmi.sysfs.BMIDevice;
-import com.buglabs.bug.module.lcd.pub.BugduinoModlet;
+import com.buglabs.bug.module.bugduino.pub.BugduinoModlet;
 
 /**
- * Activator for BUG LCD Module.
+ * Activator for BUG Bugduino Module.
  */
 public class Activator extends AbstractBUGModuleActivator {
 

diff --git a/com.buglabs.bug.module.bugduino/com/buglabs/bug/module/bugduino/pub/BugduinoModlet.java b/com.buglabs.bug.module.bugduino/com/buglabs/bug/module/bugduino/pub/BugduinoModlet.java
@@ -80,7 +80,7 @@ public void start() throws Exception {
 //		registerService(IML8953Accelerometer.class.getName(), ml8953Control, modProperties);
 //		registerService(PublicWSProvider.class.getName(), new AccelerationWS(ml8953Control, getLog()), modProperties);
 //		registerService(ILCDModuleControl.class.getName(), this, createExtendedServiceProperties());
-.//		registerService(IModuleDisplay.class.getName(), LCDModlet.this, createExtendedServiceProperties());
+//		registerService(IModuleDisplay.class.getName(), LCDModlet.this, createExtendedServiceProperties());
 	}
 
 	public void stop() throws Exception {

diff --git a/...g/module/bugduino/pub/FirmwareLoader.java → .../module/bugduino/pub/IFirmwareLoader.java b/...g/module/bugduino/pub/FirmwareLoader.java → .../module/bugduino/pub/IFirmwareLoader.java
@@ -32,15 +32,18 @@
 import com.buglabs.bug.dragonfly.module.IModuleControl;
 
 /**
- * The interface that controls functions of the LCD module (BUG 2.0).
+ * The interface that controls loading code into another processor (BUG 2.0).
  */
 public interface IFirmwareLoader extends IModuleControl {
 
-	/**
+
-	 * @param val
+	/** 
-	 *           A binary chunk of data to program onto the Bugduino 
+	 * starts a java services that watches a socket for incoming data,
-	 * 
+	 * if the sent data matches a 'write program' command followed by a slot
-	 */
+	 * ID and data, try to write the data chunk to that slot number as 
-	public int setProgram(int val) throws IOException;
+     * a firmware blob
-}
+     */
+	public int startReceiveServer(int socketNumber) throws IOException;
 
+	public int passInstruction( String instruction, int slot, byte[] arguments, int argumentsSize );
+}